The Gemini GT Digital Stepper Drive - … · The Gemini GT Digital Stepper Drive The Gemini GT is the digital stepper drive member of the ... Y FEA TURES Servo Stepper GV GV GV6 GV6

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Catalog 8000-4/USA

GEMINIGT Stepper Drives

195 Parker Hannifin CorporationCompumotor Divisioncompumotor.comAutomation

The Gemini GTDigital Stepper DriveThe Gemini GT is the digital stepper drive member of theGemini Family. The Gemini GT is easily configurable andprogrammable via RS232/485 using Compumotor’s MotionPlannerTM on a PC or Pocket Motion PlannerTM on a Window’sCETM-based palm PC. The Gemini GT is an alternative to adigital servo drive. With breakthrough techniques such asEncoderless Stall DetectTM and ABS dampingTM (patented), theGemini GT provides servo like performance with the lowermotor price of a stepper system. With the same connectivity,configurations, and family feature set as the Gemini GV, theGemini GT allows for an easy upgrade path to the Gemini GVdigital servo drive.

Active DampingTM, Electronic ViscosityTM

and ABS DampingTM

The Gemini GT follows in the footsteps of Compumotor’s ZETAdrive family and offers Active DampingTM (patented) andElectronic ViscosityTM (patented). The Gemini GT goes onestep further with ABS DampingTM (patented). This dampingfeature is for speed ranges from 0 to 0.1 revs/sec. This “no-fuss” feature requires no user set up and dramatically reducessettling time.

Encoderless Stall DetectTM

Encoderless Stall DetectTM allows detection of a motor stallwithout adding an encoder to an application. Stall conditionsresult from inequality of commanded velocity to actual velocityat the motor shaft, regardless of physical reason. The user willbe alerted to a stall condition via LED, digital output, or viaquery over the communication port. Stall sensitivity can beadjusted with a single parameter.

FeaturesPerformance• Two power ranges for up to 8 Amps of continuous current• Step and direction, CW/CCW, +/- 10 VDC analog, and

encoder tracking modes available• Active DampingTM, Electronic ViscocityTM, and ABS

DampingTM

• Encoderless Stall DetectTM

• Simplified configuration• Variable resolution up to 128,000 steps/rev

Protection• Short circuit protection – phase-to-phase and phase-to-

ground• Brownout protection – if AC drops below 85 VAC• Over temperature – shutdown occurs at ambient 131°F

(55°C)

Physical• A wide selection of stepper motors are available from

Compumotor including the OS, TS, VS and ES Series• 120V input power• Diagnostic LEDs for drive status, firmware download, and

optional keep alive mode

Gemini Family Features• 24V Keep Alive (not required) – keeps logic alive if AC

power is removed• Error Log – records 10 most recent errors with time stamp• Approvals: UL Recognition, cUL, CE (LVD), and CE (EMC)• Configurable via RS232/485 using Compumotor’s Motion

PlannerTM on a PC or Pocket Motion PlannerTM on aWindows CETM-based Palm PC

When do I need to use servo motor technology? Applications with . . .

✓ Speeds over 50 revs/sec ✓ Mechanical resonance✓ Dynamic load conditions ✓ Immediate feedback requirements✓ Very high accelerations

Catalog 8000-4/USA

GEMINIGT6 Stepper Drives


The Gemini GT6 DigitalStepper Drive with BasicController and FieldbusOptionsThe Gemini GT6 is a standalone, compact, digital stepper driveand basic motion controller in one complete package. TheGemini GT6 incorporates all of the GT digital stepper drivefeatures such as Encoderless Stall DetectTM and ABSDampingTM (patented) with the flexibility of a simple, yetpowerful motion controller.

The Gemini GT6 is easily configurable and programmable viaRS232/485 using Compumotor’s Motion PlannerTM on a PC orPocket Motion PlannerTM on a Window’s CETM-based palm PC.The Gemini GT6 also offers connectivity to several field busesincluding Profibus and DeviceNet.

Similar to the digital stepper drive, the Gemini GT6 providesservo performance for the package price of a stepper system.It also allows the flexibility of an upgrade path to the GeminiGV6, due to its equivalent connectivity, programmability, andfamily feature set. For applications requiring stepper motorcontrols and basic motion control functionality, the Gemini GT6is today’s industry technology leader.

Features

Performance• Provides 5 or 8 Amps of continuous current• Active DampingTM, Electronic ViscocityTM, and ABS

DampingTM

• Encoderless Stall DetectTM

• Simplified configuration• Variable resolution up to 128,000 steps/rev• Standalone controller and drive in one small package• Full ASCII connection capability• Program Storage: 32 programs or 190 lines of program

code• Control features such as registration, motion profiles,

S-curve velocity profiling and conditional statements

Performance, continued• Daisy chain up to 99 units• 8 programmable inputs and 6 programmable outputs

Protection• Short-circuit protection – phase-to-phase and phase-to-

ground• Brownout protection – if AC drops below 85 VAC• Over temperature – shutdown occurs at 131°F (55°C)


Compumotor including the OS, RS, TS, VS and ES Series• 120V input power• Diagnostic LEDs for drive status, firmware download, and

optional keep alive mode

Connectivity• RS232/485 serial connectivity (ASCII)• Profibus DP (optional)• DeviceNet (optional)

Gemini Family Features• 24V Keep Alive (not required) – keeps logic alive if AC

power is removed• Error Log – records 10 most recent errors with time stamp• Approvals: UL Recognition, cUL, CE (LVD), and CE (EMC)• Configurable/Programmable via RS232/485 using

Compumotor’s Motion PlannerTM on a PC or pocketMotion PlannerTM on a Windows CETM-based Palm PC

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Catalog 8000-4/USA

GEMINIGT6K Stepper Drives


See Servo Drive section for the full line of Gemini servo drives and drive/controllers.

The Gemini GT6K DigitalStepper Drive with Full-Feature ControllerCompumotor's new premier microstepping drive/controller, theGemini GT6K is the most powerful addition to the Geministepper family lineup. This full-feature, standalone drive/controller offers a complete motion control solution in oneeconomical, compact package. The GT6K comes completewith the same features, connectivity and front-end softwaretools as the Gemini GT and Gemini GT6. In addition to offeringmany of the drive features of the Gemini GT and controlfeatures of the Gemini GT6, the GT6K incorporates the flexibilityand control functionality of Compumotor's 6K Controller toallow highly advanced motion control and sequencing capabili-ties for unrivaled flexibility in many distributed-control applica-tions. The GT6K is easily configured/programmed via RS232/485 using Compumotor’s Windows-based Motion PlannerTM

software package. The GT6K also offers connectivity to anyASCII-based serial device, including HMI panels and PLC ASCIImodules. Products such as OPTO 22TM SNAP I/O, DVTTM

Vision Systems and ABTM SLC 5/05 PLC platforms can also beused for data chaining using the GT6K's Ethernet Clientfeature.

FeaturesPerformance• Combines the powerful features of the 6K Controller with

the Gemini GT digital microstepper drive for a completestandalone stepper solution in one small package

• Full ASCII communication capability and Ethernet commu-nication

• Control features such as following, registration,multitasking, PLC scan, electronic cam profiling, S-curveprofiling, scaling, high-level math functionality and more

• Program storage: 300KB standard (battery backed)• Daisy chaining of up to 99 units• Simplified configuration and tuning• 8 programmable inputs and 6 programmable outputs

(expandable up to 256 I/O points)

Protection• Short-circuit protection – phase-to-phase and phase-to-

ground• Brownout protection – if AC drops below 85 VAC• Over temperature – shutdown occurs at ambient 131°F

(55°C)


Compumotor including the OS, TS, VS and ES Series• 120V input power• Diagnostic LEDs for drive status, firmware download and

24VDC control power active

Connectivity• Two serial communications ports: one RS232 port (3-

wire), one RS232/RS485 port (2- or 4-wire)• Ethernet communication port (TCP/IP, 10 Mbps twisted

pair• Embedded Ethernet Client for use with ABTM PLCs, OPTO

22TM SNAP I/O, DVTTM Vision Systems, etc.• Master Encoder port for reading external encoder input

signals• Expandable I/O (up to 256 discrete I/O points and/or 192

Ethernet I/O points)

Gemini Family Features• 24V Keep Alive (24VDC supply required) – keeps logic

alive if AC power is removed• Error Log—records 10 most recent errors with time stamp• Approvals: UL Recognition, cUL, CE (LVD), and CE (EMC)• Configurable/Programmable via RS232/485 using

Compumotor’s Motion PlannerTM

Catalog 8000-4/USA

GEMINIGT6K Stepper Drives


Software and Standard Control Features• Complied motion• Floating point, integer and binary variables with high-level

math functionality• Comprehensive program monitoring• 300KB memory storage, battery backed• Full-feature 6K Language command set• Complete position-based following and electronic cam

profiling• PLC Scan Mode• Multitasking (up to 10 individual programs simultaneously)• Full scaling functionality• Compatible with platforms such as VisualBasicTM, Visual

C++TM and NI LabVIEWTM

I/O Capabilities• Onboard I/O: 8 digital inputs (3 programmable limits, 5

programmable), 6 digital outputs, 1 analog input, 2 D/Amonitor outputs, 1 relay output

• Software selectable onboard input/output functionality• Expandable I/O of up to 256 additional discrete digital I/O

points, 64 analog I/O points or a combination of bothdigital and analog points

• Expandable Ethernet I/O of up to 192 additional digital oranalog I/O points using Ethernet Client with OPTO 22™SNAP modules

• Registration input capability• Software selectable I/O high/low active level• 5-24VDC selectable input reference voltage• Inputs: selectable as sinking or sourcing; outputs: open

collector (sinking)

GE

MIN

I FA

MIL

Y F

EAT

UR

ES

Servo StepperGV

GV

GV6

GV6

GV6K

GV6K

GT

GT

GT6

GT6

GT6K

GT6K

CE, UL Recognition

CE, UL Recognition

RS232/485

RS232/485

Profib

Profib

us

us

De

De

viceNet

viceNet

± 10V Command Input

10V Command Input

Step/Direction, CW/CCW Command Input

Step/Direction, CW/CCW Command Input

Onboard I/O

Onboard I/O

Expandab

Expandab

le I/O

Registr

Registr

ation

System Status & DiagnosticsSystem Status & Diagnostics

ScalingScaling

Variabiab

les

Folloollo

wingwing

MultitaskingMultitasking

Encoder Signal Input

Encoder Signal Input

Ether

Ether

net

Encoder

Encoder

less Stall Detect

less Stall Detect

Compiled MotionCompiled Motion

Full FunctionalityFull Functionality

Limited FunctionalityLimited Functionality

Gemini Family Summary

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Catalog 8000-4/USA

GEMINIGT/GT6 Common Specifications



GT/GT6 Common Specifications

Specifications GT(GT6)-L5 GT(GT6)-L8

Input PowerVoltage 95-132 VAC 95-132 VACPhase 1Ø 1ØFrequency 50/60 Hz 50/60 Hz24V Keep Alive (Optional) 24 VDC +/- 20% 24 VDC +/- 20%

Output PowerBus Voltage 170 VDC 170 VDCSwitching Frequency 20kHz 20kHzCurrent (Apk) 5 Amps 8 Amps

PerformanceAccuracy +/-5 arc min (0.0833°) unloaded bi-directional with Compumotor motors

+/- 1 arc min (0.0167°) loaded in addition to unloaded accuracyRepeatability +/- 5 arc sec (0.0014°), typical unloadedHysteresis Less than 2 arc min (0.0334°) unloadedResolution User defined integer value between 200 and 128,000 stepsWaveform User defined, pure sine, -20% to 10%, continuously variable 3rd harmonic

Command Inputs - GTPosition Mode Step and Direction/CW & CCW/Encoder TrackingVelocity Mode 12 bit, +/- 10 input voltage

Inputs – GTEnable, Reset, User Fault 5-24VDC Selectable, 1/3 1/3 1/3 voltage switching thresholdNeg/Pos Limits 5-24VDC Selectable, 1/3 1/3 1/3 voltage switching threshold

Inputs – GT68 Program., Enable, Reset 5-24VDC Selectable, 1/3 1/3 1/3 voltage switching threshold1 Analog 12 bit, +/- 10 VDC input voltage (1 ms update)

Outputs – GTFault, At Limit, Stall Open collector, 300mA sink capabilityAnalog Monitors +/- 10 V scalable, 8 bit (not to be used as control functions)Step & Direction Programmable up to 128,000 counts/revRelay Normally open, dry contact

Outputs – GT66 Programmable Open collector, 300mA sink capabilityAnalog Monitors +/- 10 V scalable, 8 bit (not to be used as control functions)Step & Direction Programmable up to 128,000 counts/revRelay Normally open, dry contact

CommunicationsType RS232/RS485 (4-wire), ASCII or 8-bit binary protocolBaud Rate Fixed at 9600Daisy Chain – GT6 Up to 99Fieldbus - GT6 Profibus (optional), DeviceNet (optional)

EnvironmentalTemperature Still air: 113°F(45°C), moving air: 122°F (50°C)Humidity 0-95%, non-condensingShock/Vibration Shock:15G half-sine @ 11 msec/ vibration: 2G, 10-2000 Hz

ProtectionShort Circuit Phase-to-phase, phase-to-groundBrownout AC drops below 85 VACOver Temperature Shutdown fault at 131°F (55°C)

Standards UL, cUL, CE (LVD), CE ( EMC)

PhysicalCompumotor motors OS, TS, VS and ES Series motorsNon-Compumotor motors 4,6,or 8-lead, 2-phase hybrid permanent magnet motor, 1.8°Inductance 0.5mH minimum; 5 to 50 mH recommended, 100mH maxConnectors

Serial 9-pin D-shell (male)Motor and power Barrier screw terminalCommand and I/O 50-pin High density Amp Champ - .050 Series II (with screw attachment)+24VDC/Relay 4-pin removable terminal block

Catalog 8000-4/USA

GEMINIGT6K Common Specifications


Specifications GT6K-L5 GT6K-L8

Input PowerVoltage 95-132 VAC 95-132 VACPhase 1Ø 1ØFrequency 50/60 Hz 50/60 Hz24V Keep Alive (Required) 24 VDC +/- 20% 24 VDC +/- 20%

Output PowerBus Voltage 170 VDC 170 VDCSwitching Frequency 20kHz 20kHzCurrent (Apk) 5 Amps 8 Amps

PerformanceAccuracy +/- 5 arc min (0.0833°) unloaded bi-directional with Compumotor motors

+/- 1 arc min (0.0167°) loaded in addition to unloaded accuracyRepeatability +/- 5 arc sec (0.0014°), typical unloadedHysteresis Less than 2 arc min (0.0334°) unloadedResolution User defined integer value between 200 and 128,000 stepsWaveform User defined, pure sine, -20% to 10%, continuously variable 3rd harmonic

Inputs – Onboard8 Program., Enable, Reset 5-24VDC Selectable, 1/3 1/3 1/3 voltage switching threshold1 Analog 12 bit, +/- 10VDC input voltage (2 ms update)

Inputs – Expansion (optional) Serial:Up to 256 digital inputs (2 ms update)Up to 64 analog inputs (+/- 10VDC input voltage)Ethernet: Up to 192 digital or analog Ethernet inputs via Ethernet Client with OPTO 22™ SNAP I/O module

Outputs – Onboard6 Programmable Open collector, 300mA sink capabilityAnalog Monitors +/- 10 V scalable, 8 bit (not to be used as control functions)Step & Direction Programmable up to 128,000 counts/revRelay Normally open, dry contact

Outputs – Expansion (optional) Serial:Up to 256 digital outputs (2 ms update)Up to 64 12-bit analog outputs (+/- 10VDC input voltage)Ethernet: Up to 192 digital or analog Ethernet outputs via Ethernet Client or OPTO 22™ SNAP I/O module

CommunicationsSerial RS232/RS485 (4-wire), ASCIIBaud Rate Selectable up to 115200Daisy Chain – GT6 Up to 99Ethernet Type: 10BaseT (10 Mbps twisted pair)Protocols Supported TCP/IP and UDP, Modbus/TCP, AB Ethernet and ASCII over Ethernet

EnvironmentalTemperature Still air: 113°F(45°C), moving air: 122°F (50°C)Humidity 0-95%, non-condensingShock/Vibration Shock:15G half-sine @ 11 msec/ vibration: 2G, 10-2000 Hz

ProtectionShort Circuit Phase-to-phase, phase-to-groundBrownout AC drops below 85 VACOver Temperature Shutdown fault at 131°F (55°C)

Standards UL, cUL, CE (LVD), CE ( EMC)

PhysicalCompumotor motors OS, TS, VS and ES Series motorsNon-Compumotor motors 4,6,or 8-lead, 2-phase hybrid permanent magnet motor, 1.8°Inductance 0.5mH minimum; 5 to 50 mH recommended, 100mH maxConnectors

Serial (Com1/Com2) 9-pin D-shell (male)Ethernet RJ45 connector for 10 Base-TMotor and Power Barrier screw terminalCommand, Onboard I/O 50-pin High density Amp Champ - .050 Series II (with screw attachment)Feedback 26-pin High density Amp Champ - .050 Series II (with screw attachment)Master Encoder 9-pin D shell (female)Expandable I/O 15-pin D shell (female)+24VDC/Relay 4-pin removable terminal block

GT6K Common Specifications

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Catalog 8000-4/USA

GEMINIGemini Connections



reservedreservedreserved

Output GroundOutput 4Output 3

Output GroundOutput 2

Output Groundreserved

Input Groundreservedreservedreserved

Input Groundreservedreservedreserved

Input GroundInput 3

Input GroundInput 2Input 1

CNTRL-PVINref

Analog Ground–10V Vel Cmd–10V Vel Cmd+Analog Output BAnalog Output ADigital GroundreservedreservedDirection— OutDirection+ OutStep— OutStep+ OutReservedReservedDir-/CCW-/BX—Dir+/CW+/BX+Step-/CCW-/AX—Step+/CW+/AX+Digital GroundDigital GroundReservedReservedResetDigital GroundEnable

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Gemini GT and GT6 Connections and LEDs

+24V DC

24V RTN

RELAY COM

RELAY N.O.

MalePins

6 7 8 9

21 3 4 5

Rx Tx GndRS-232 Connections

21 3 4 5

6 7 8 9

Rx-(RD A)

Tx-(TD A)

GndRx+(RD B)

Tx+(TD B)

RS-485 Connections

RS232/485

LED Color:Left Right Indicated State* Off Yellow InitializationRed (flash) Off Awaiting flash downloadGreen (flash) Yellow (flash) Programming flash memoryRed Grn Keep alive mode Green Grn (flash) Incoming steps (variable rate)Green Yellow/Green (flash) Autorun modeRed Off Drive not enabled

Drive faultedGreen Off Drive ready

Yellow/GreenGreen/Red

LEDs

24VDC/Relay (not required)• + 24VDC - provides logic keep alive to the

drive• Relay – 5A at 24 VDC or 120 VAC• Relay opens when drive is disabled/faulted

AC Input Connections• Terminals: #8 (M4)• Mating Terminals: spade fork, 0.325” max

width

Motor Feedback Connector

Motor Output Connections• Terminals: #8 (M4)• Mating Terminals: spade fork, 0.325” max

width

For Gemini GT6 I/Oinformation, please referto Gemini GT6 HardwareInstallation Guide

For Gemini GT6 I/Oinformation, please referto Gemini GT6 HardwareInstallation Guide

Not available in theGemini GT or GT6

Gemini GT

Gemini GT6





Input GroundInput 8Input 7Input 6

Input GroundInput 5Input 4

Pullup-Inputs 4,5,6,7Input Ground

Input 3Input Ground

Input 2Input 1

Pullup-Inputs 1,2,3VINref

Analog Ground–10V Input–10V Input+Analog Output BAnalog Output ADigital GroundreservedreservedDirection— OutDirection+ OutStep— OutStep+ OutReservedReservedDir-/CCW-/BX—Dir+/CW+/BX+Step-/CCW-/AX—Step+/CW+/AX+Digital GroundDigital GroundReservedReservedResetDigital GroundEnable

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+24V DC

24V RTN

RELAY COM

RELAY N.O.

COMPUMOTOR

DR

IVE

I/OM

OT

OR

FE

ED

BA

CK

RS

-232/485

GT-L5/8

STEPPER

A+

A—

B+

B—

N/C

N

L1

MO

TO

R12

0V

See Servo

Section

Catalog 8000-4/USA

GEMINIGemini Dimensions


FB1 -- -- Not used --FB2 Off Not powered/not online --

Green Network link is OK FBS bit #4= 1Red Network critical link failure FBS bit #5= 1

Green 1 flash/second - network link not connected FBS bit #6= 1Red 1 flash/second - network connection timeout FBS bit #7= 1

FB3 Off No power --Green Module device operational FBS bit #8= 1Red Unrecoverable fault FBS bit #9= 1

Green 1 flash/second - module in standby FBS bit #10= 1Red 1 flash/second - module minor fault FBS bit #11= 1

FB4 -- -- Not used --

LED Steady Flash Function Status

DeviceNet LED Indicators

DeviceNet Connector Pin OutPin Name Function

1 V- DC Return2 CAN_L CANBUS LOW3 SHIELD Protective earth4 CAN_H CANBUS HIGH5 V+ +24 VDC Power*

* 30mA in standby and 100mA in rush

Gemini GT6 with DeviceNet Option

DeviceNet Baud RateTo configure baud rate via hardware, dip switches are provided to seta baud rate of 125, 250 or 500kb. Setting the dip switches to 0xFF(all ON) enables software configuration of baud rate.

Baud rate (Bit/sec) BD1 BD2

125k OFF OFF250k OFF ON500k ON OFFReserved ON ON

Profibus LED Indicators

Gemini GT6 with Profibus Option

Pin Name Function

FB1 -- -- Not used --FB2 Off Module is not online FBS bit #4= 0

Green Module is online FBS bit #4= 1FB3 Off Module is not offline FBS bit #4= 1

Red Module is offline FBS bit #4= 0FB4 Off No diagnostics present --

Red 1 flash/second - FBSIZE setting does notmatch network configuration --

Red 4 flashes/second - hardware failure --

LED Steady Flash Function Status

Profibus Connector Pin Out

Housing Shield Protective earth1 Not connected --2 Not connected --3 B-Line Positive Rx/TxD4 RTS Request to send*5 GND BUS Isolated GND*6 +5V BUS Isolated +5V*7 Not connected --8 A-Line Negative Rx/TxD9 Not connected --

See Also:

The Profibus or DeviceNetUser Guide

for complete specifications

Profibus Baud RateThe GT6 will automatically detect the baud rate of the Profibus network.For a complete list of supported baud rates, see the CMTRØ9ØE.GSDfile, which accompanies the Gemini product.

GV6GeminiServo

Profibus connector

Termination switch

Hardware address settings

LEDs

DeviceNet connector

Hardware address settings

LEDs

GT6

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Catalog 8000-4/USA

GEMINIGemini Connections



GT6KGeminiServo

RS

-232E

XPA

NS

ION

I/OE

THE

RN

ET

MA

ST

ER

EN

CO

DE

R

+24V DC

24V RTN

RELAY COM

RELAY N.O.

RS

-232/485

COMPUMOTOR

DR

IVE

I/OM

OT

OR

FE

ED

BA

CK

GV-U3/6/12

SERVO

U

V

W

VBUS+

VBUS–

L2/N

L1

MO

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WA

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MalePins

To configure drive parameters, connect a PC to this port. Use Motion Planner for drive configuration. Enabling Ethernet will disable the COM1 port.

Required +24VDC input. 19.2 — 28.8 VDC, 500 mA maximum.

When drive is enabled, it holds relay closed.

Relay rating: 5A at 24VDC or 120VAC.

If drive is faulted or disabled, relay will open. (Typical use: control of motor brake.)

Motor Output Connections

AC Input Connections

RS-232/485 Connector – COM1

50 Pin DRIVE I/O Connector

Expansion I/O Connector

26 Pin MOTOR FEEDBACK Connector

+24VDC/Relay Connector

6 7 8 9

21 3 4 5

Rx Tx GndRS-232 Connections

21 3 4 5

6 7 8 9

Rx-(RD A)

Tx-(TD A)

GndRx+(RD B)

Tx+(TD B)

RS-485 Connections

MalePins

Connect an RP240, or use this port for RS-232. Download OS through this port only. Ethernet and COM2 can both be active at the same time.

RS-232 Connector – COM2

Connect as many as eight EVM32-II I/O modules in series, for up to 256 additional I/O points.

Ethernet Connector

RJ-45 connector for 10Base-T (10Mbps twisted pair) TCP/IP protocol. Default address is 192.168.10.30. Green LED on = Connection OK; Yellow LED on = Transmitting

Master Encoder Connector

Connect an encoder for Following. Not for servo feedback or stepper stall detect.

6 7 8 9

21 3 4 5

Rx Tx Gnd

+5VDC

RS-232 Connections

+24V DC

24V RTN

RELAY COM

RELAY N.O.

GT6KDigital Controller/Drive

Operating Temperature Still Air: 45¡C (113¡F)Moving Air: 50¡C (122¡F)

Storage Temperature: -40¡C — 85¡C (-40¡F — 185¡F)Humidity: 0 — 95%, non-condensing

Environmental Specifications

Short Circuit ProtectionInrush Current ProtectionDrive Overtemperature ProtectionMotor Overtemperature ProtectionUndervoltage ProtectionOvervoltage ProtectionCurrent FoldbackRegeneration Protection

Protective Circuits

LED Color:Left Right Indicated State Red Grn +24VDC only Red Yel AC only Grn Grn (flash) Motion in progressGrn Yel/Grn (flash) Autorun modeRed Off Drive not enabled; or

Drive faultedOff Yel InitializingGrn Off Drive ready

Yellow/GreenGreen/Red

LEDs

ReservedReservedReservedReservedReservedReservedReservedReservedReservedReservedReservedReservedReserved

ReservedReservedReservedEncoder Z—Encoder Z+Encoder B—Encoder B+Encoder A—Encoder A+Encoder GroundEncoder GroundEncoder +5VEncoder +5V

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GT6K-L5/L8at 120VAC

95 — 132VAC

N/C

N

L1

Fuses





Input/Limit GroundInput 3

(Trig B) Input 2(Trig A) Input 1

Input/Limit Ground(Master Trig) Input 5

Input 4CNTRL-P: Inputs 1 — 5

Input/Limit Ground(Home) Limit 3

Input/Limit Ground(Neg) Limit 2(Pos) Limit 1

CNTRL-P: Lim 1 — 3VINref

Analog GroundAnalog Input—Analog Input+Analog Output BAnalog Output ADigital GroundReservedReserved Dir— OutDir+ OutStep— OutStep+ OutReservedReservedReservedReservedReservedReservedDigital GroundDigital GroundReservedReservedResetDigital GroundEnable

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A+

A–

B+

B–

Motor Cable

DRIVETERMINALS

GT6K

A+

A–

B+

B–

Earth

MOTORWIRES

Catalog 8000-4/USA

GEMINIGemini Dimensions


Gemini Dimensional DrawingsGT/GT6 Dimensions in inches (mm)

Product W FHWidth FIN Height

IN (mm) IN (mm)

L5 3.13 (79.4) 0.38 (9.5)

L8 3.75 (95.3) 1.00 (25.4)

FH3x clearancefor #8 or M4mounting screws

8.0(203.2)

6.0(153.0) 3.50

(88.9)

OW

5.40(138.0)

1.38 (35)

GT6K/GT6-PB/GT6-DN Dimensions in inches (mm)

Product OW FHOverall FinWidth Height

IN (mm) IN (mm)

L5 4.50 (114.3) 0.38 (9.5)

L8 1.00 (25.4) 0.38 (9.5)

6.00(153.0)

5.40(138.0)

W

2.75(70)

1.38(35)FH

7.0(177.8)

7.75(196.9)

8.0(203.2)

3x clearancefor #8 or M4mounting screws

1.00(25.4 )

0.88(22.2)

B

Catalog 8000-4/USA

GEMINIGemini Ordering



Gemini Ordering Nomenclature

Compatible Stepper Motors• VS Series (in NEMA 17, 23 and 34 frame sizes)• OS Series (in NEMA 23 frame sizes)• ES Series (in NEMA 23 and 34 frame sizes)• TS Series (in NEMA 34 and 42 frame sizes)

Motor Cabling Options• Flying lead option• 10' cable option• 10' CE(EMC&LVD) cable option (on selected motors)• NPS pipe thread option (on selected motors)

See Also:

The Gemini Family ofDigital Servo Drive

Products in theServo Section

GTControl Level:(blank) - drive only6 - basic drive/controller6K - full-feature drive/controller

Option:PB (Profibus - GT6 only)DN (DeviceNet - GT6 only)(blank) no fieldbus

L5L8

StepperPower Levels

InputVoltage (VAC)

BusVoltage (VDC)

ContinuousCurrent (Apk)

120

120

170

170

5

8

- - (Example: GT6-L5-PB)

Catalog 8000-4/USA

GEMINIGT Ordering


Cables and Accessories

Gemini to6K Controller

(GT only)

Part Number Product Description71-016966-10 Gemini to 6K Step & Direction command cable, 10', CE(LVD&EMC) (position mode)71-016987-10 Gemini to 6K Analog command cable, 10', CE(LVD&EMC) (velocity mode)71-018183-10 Gemini to 6K Step & Dir or Analog command cable, 10', CE(LVD&EMC) (all modes)71-019862-04 Gemini to 6K Step & Direction command cable, 4', (non-CE) (position mode)71-019863-04 Gemini to 6K Step & Dir or Analog command cable, 4', (non-CE) (all modes)

50-PinHigh Density

(Entire Family)

Part Number Product DescriptionGEM-VM50 Gemini 50-pin screw terminal breakout board with 3' cable71-016943-10 10' cable, 50-pin high density to flying leads, CE(LVD&EMC)71-019861-04 4' cable, Gemini 50-pin high density to flying leads (non-CE)71-019861-10 10' cable, Gemini 50-pin high density to flying leads (non-CE)GC-50 50-pin Gemini test connector with terminal stripsGC-SDA Gemini connector with 11-pin terminal strips (drive commands only)

26-PinHighDensity(GT6K only)

Part Number Product DescriptionGC-26 26-pin Gemini test connector with terminal stripsGFB-KIT 26-pin Gemini connector kit

AdditionalAccessories

(Entire Family)

Part Number Product Description71-016939-10 10' cable, RS232/485 null modem, CE(LVD&EMC)

B

Catalog 8000-4/USA

GEMINIGT Performance



0 10 20 30 40 500

10

20

30

40

50

60

0

.07

.14

.21

.28

.35

.42

0 10 20 30 40 500

50

100

150

200

250

0

.35

.70

1.05

1.40

1.75

0 10 20 30 40 500

100

200

300

400

500

0

.70

1.40

2.10

2.80

3.50

0 10 20 30 40 500

200

400

600

800

1000

0

1.40

2.80

4.20

5.60

7.00

VS13B/Gemini

Speed (RPS)

Torq

ue (

oz-in

) Torque (Nm

)

VS21B/Gemini

Speed (RPS)

Torq

ue (

oz-in

) Torque (Nm

)

VS22B/Gemini

Speed (RPS)

Torq

ue (

oz-in

) Torque (Nm

)

VS23B/Gemini

Speed (RPS)

Torq

ue (

oz-in

) Torque (Nm

)

VS31B/Gemini

Speed (RPS)

Torq

ue (

oz-in

) Torque (Nm

)VS32B/Gemini

Speed (RPS)

Torq

ue (

oz-in

) Torque (Nm

)

SERIES PARALLEL FULL

0 10 20 30 40 500

20

40

60

80

100

0

.14

.28

.42

.56

.70

0 10 20 30 40 500

30

60

90

120

150

0

.21

.42

.65

.84

1.05

Stepper Speed-Torque Performance CurvesGemini with VS motors – 17, 23 and 34 frame

0

.35

.70

1.05

1.40

1.75

0

.07

.14

.21

.28

.35

0 10 20 30 40 500

20

40

60

80

100

0

.14

.28

.42

.56

.70

0 10 20 30 40 500

50

100

150

200

250

OS2HB/Gemini

Speed (RPS)

Torq

ue (

oz-in

) Torque (Nm

)

OS21B/Gemini

Speed (RPS)

Torq

ue (

oz-in

) Torque (Nm

)

OS22B/Gemini

Speed (RPS)

Torq

ue (

oz-in

) Torque (Nm

)


0 10 20 30 40 500

10

20

30

40

50

0 10 20 30 40 500

10

20

30

40

50

0

.07

.14

.21

.28

.35

0

.07

.14

.21

.28

.35

0 10 20 30 40 500

10

20

30

40

50

0 10 20 30 40 500

20

40

60

80

100

0

.14

.28

.42

.56

.70

0 10 20 30 40 500

50

100

150

200

250

300

350

400

0

.35

.70

1.05

1.40

1.75

2.10

2.45

2.80

OS2HA/OEM750 (Series)

Speed (RPS)

Torq

ue (

oz-in

) Torque (Nm

)OS2HA/OEM750 (Parallel)

Speed (RPS)

Torq

ue (

oz-in

) Torque (Nm

)

OS21A/OEM750 (Series)

Speed (RPS)

Torq

ue (

oz-in

) Torque (Nm

)

OS22A/OEM750 (Series)

Speed (RPS)

Torq

ue (

oz-in

) Torque (Nm

)

75 VDC 48 VDC 24 VDC

Gemini with OS motors – 23 frame

Catalog 8000-4/USA

GEMINIGT Performance


Stepper Speed-Torque Performance Curves

0

.14

.28

.42

.56

.70

0 10 20 30 40 500

50

100

150

200

.000

.35

.70

1.05

1.40

0 10 20 30 40 500

50

100

150

200

250

0

.35

.70

1.05

1.40

1.75

0

.28

.56

1.12

.84

1.40

0 10 20 30 40 500

100

200

300

400

500

0

.70

1.40

2.10

2.80

3.50

0 10 20 30 40 500

100

200

300

400

500

600

0

.70

1.40

2.10

2.80

3.50

4.20

ES21B/Gemini

Speed (RPS)

Torq

ue (

oz-in

) Torque (Nm

)

ES22B/Gemini

Speed (RPS)

Torq

ue (

oz-in

) Torque (Nm

)

ES23B/Gemini

Speed (RPS)

Torq

ue (

oz-in

) Torque (Nm

)

ES31B/Gemini

Speed (RPS)

Torq

ue (

oz-in

) Torque (Nm

)

ES32B/Gemini

Speed (RPS)

Torq

ue (

oz-in

) Torque (Nm

)

ES33B/Gemini

Speed (RPS)

Torq

ue (

oz-in

) Torque (Nm

)

0 10 20 30 40 500

20

40

60

80

100

0 10 20 30 40 500

40

80

120

160

200

0 10 20 30 40 500

100

200

300

400

500

600

700

0

.70

1.4

2.1

2.8

3.5

4.2

4.9

0 10 20 30 40 500

200

400

600

800

1000

1200

0

1.4

2.8

4.2

5.6

7.0

8.4

0 10 20 30 40 500

500

1000

1500

2000

0

3.5

7.0

10.5

14.0

TS31B/Gemini

Speed (RPS)

Torq

ue (

oz-in

) Torque (Nm

)

TS32B/Gemini

Speed (RPS)

Torq

ue (

oz-in

) Torque (Nm

)

TS33B/Gemini

Speed (RPS)

Torq

ue (

oz-in

) Torque (Nm

)

Gemini with TS motors, 34 frame

Gemini with ES motors (previously ZETA and S Series motors), 23 frame

Gemini with ES motors (previously ZETA and S Series motors), 34 frame

0 10 20 30 40 500

500

1000

1500

2000

0

3.5

7.0

10.5

14.0

0 10 20 30 40 500

500

1000

1500

2000

2500

3000

3500

0

3.5

7.0

10.5

14.0

17.5

21.0

24.5

0 10 20 30 40 500

1000

2000

3000

4000

5000

0

7.0

14.0

21.0

28.0

35.0

TS41B/Gemini

Speed (RPS)

Torq

ue (

oz-in

) Torque (Nm

)

TS42B/Gemini

Speed (RPS)

Torq

ue (

oz-in

) Torque (Nm

)

TS43B/Gemini

Speed (RPS)

Torq

ue (

oz-in

) Torque (Nm

)

Gemini with TS motors, size 42 frame


B

Catalog 8000-4/USA

GEMINIGT Stepper Drives



OS & VS Series StepperMotor Specifications

Size 17, 23 & 34 Frame Sizes

Size 23 Frame Size 23 Frame Size 34 Frame

Parameters OS2HB OS21B OS22B VS21B VS22B VS23B VS31B VS32B

Static torque oz-in 61 127 235 99 170 267.5 559 1211(Nm) (0.4) (0.9) (1.7) (0.7) (1.2) (1.9) (3.9) (8.6)

Rotor inertia oz-in2 0.39 0.66 1.39 0.66 1.64 2.62 7.65 14.8(kg-cm2) (0.07) (0.12) (0.25) (0.12) (0.3) (0.48) (1.4) (2.7)

Drive Current Series 1.7 (1.2) 1.8 (1.3) 2.4 (1.7) 1.8 (1.3) 1.7 (1.2) 1.4 (1.0) 3.0 (2.1) 3.0 (2.1)(Apk)(Arms) Parallel 3.4 (2.4) 3.6 (2.6) 4.8 (3.4) 3.6 (2.6) 3.4 (2.4) 2.8 (2.0) 6.0 (4.2) 6.0 (4.2)

Phase Inductance Series 8.6 12 16.6 5 12.0 15.4 15.8 25.0 (mH) Parallel 2.2 3 4.2 (1.25) (3.0) (3.85) 3.95 6.25

Drive Bus Voltage (VDC) 170 170 170 170 170 170 170 170

Detent Torque oz-in 2.5 4.0 7.0 2.7 3.3 6.0 14.0 28.0(N-m) (0.02) (0.03) (0.05) (0.02) (0.02) (0.04) (0.1) (0.2)

Bearings InformationThrust Load lb 13 13 13 17.6 17.6 17.6 35.3 35.3

(kg) (5.9) (5.9) (5.9) (8) (8) (8) (16) (16)

Radial Load lb 20 20 20 15.0 15.0 15.0 30.9 30.9(kg) (9.1) (9.1) (9.1) (6.8) (6.8) (6.8) (14) (14)

End Play in 0.001 0.001 0.001 0.003 0.003 0.003 0.0032 0.0032(mm) (0.025) (0.025) (0.025) (0.075) (0.075) (0.075) (0.080) (0.080)

Radial Play in 0.0008 0.0008 0.0008 0.001 0.001 0.001 0.0008 0.0008(Per 0.5 lb load) (mm) (0.02) (0.02) (0.02) (0.025) (0.025) (0.025) (0.020) (0.020)

Motor Weight lb 1 1.5 2.5 1.03 1.54 2.2 3.86 6.18(kg) (0.5) (0.7) (1.1) (0.47) (0.7) (1.0) (1.75) (2.8)

Certifications UL recognized Pending Pending Pending No No No No NoCE (LVD) Yes Yes Yes No No No No No

CE(EMC & LVD)* No No No No No No No No

* To comply with EMC and low-noise (CISPR22/EN55022 Class A or FCC Class A emissions) standards, the following items are required:• Gemini GT or GT6 Drives• CE(LVD) motor for LVD, Compumotor recommends a terminal board (NPS) motor construction for easier EMC installation• C10(CH10) motor accessory (LVD/EMC cable kit)• Mains filter as indicated in the User Guide

Discover how easily Gemini fits into your next motion controlapplication by calling 1-800-358-9070. Or visit us on the Web at

www.compumotor.com to find a local factory authorizedAutomation Technology Center (ATC) near you.

Catalog 8000-4/USA

GEMINIGT6 Stepper Drives


** Values shown in speed-torque curves*** Small signal values

* Small Signal Inductance is found by using an inductance bridge or meter.** All Motors Cable length = 10 feet (3m).

Size 34 Frame Size 42 Frame

TS31B TS32B TS33B TS41B TS42B TS43BStatic torque** oz-in (N-m) 455 (3.19) 647 (4.53) 1525 (10.68) 1332 (9.32) 2515 (17.61) 3479 (24.35)

Rotor inertia oz-in2 (kg-cm2) 7.80 (1.43) 14.67 (2.68) 21.89 (4.01) 30.22 (5.53) 59.68 (10.92) 88.51 (16.20)

Drive Current Series 3.3 (2.3) 3.1 (2.2) 5.6 (4.0) 6.4 (4.5) 6.7 (4.7) 6.9 (4.9)(Apk)(Arms)** Parallel 6.7 (4.7) 6.2 (4.4) 12.0 (8.5) 12.0 (8.5) 12.0 (8.5) 12.0 (8.5)

Drive Bus Voltage (VDC) 170 170 170 170 170 170

Phase Inductance Series 10.3 10.3 13.6 15.8 22.0 30.7(mH)*** Parallel 2.6 2.6 3.4 3.9 5.5 7.7

Detent Torque oz-in (Nm) 18 (0.13) 36 (0.25) 54 (0.38) 42 (0.30) 84 (0.59) 106 (0.75)

Bearings InformationThrust Load lb (kg) 305 (139) 305 (139) 305 (139) 404 (184) 404 (184) 404 (184)

Radial Load lb (kg) 65 (30) 65 (30) 110 (50) 125 (57) 110 (50) 110 (50)

End Play (Reversing load equals 1 lb) in (mm) 0.001 (0.025) 0.001 (0.025) 0.001 (0.025) 0.001 (0.025) 0.001 (0.025) 0.001 (0.025)

Radial Play (Per 0.5 lb load) in (mm) 0.0008 (0.020) 0.0008 (0.020) 0.0008 (0.020) 0.0008 (0.020) 0.0008 (0.020) 0.0008 (0.020)

Motor Weight lb (kg) 5.0 (2.3) 8.4 (3.8) 11.9 (5.4) 11.0 (5.0) 18.4 (8.4) 25.7 (11.7)

Certifications UL recognized Yes Yes Yes Yes Yes YesCE (LVD) Yes Yes Yes Yes Yes YesCE (EMC & LVD)* * * * * * *

Size 23 Frame Size 34 Frame

ES21B ES22B ES23B ES31B ES32B ES33B(ZETA57-51) (ZETA57-83) (ZETA57-102) (ZETA83-62) (ZETA83-93) (ZETA83-135)

Static torque oz-in (N-m) 65 (0.46) 125 (0.71) 145 (0.89) 145 (1.14) 300 (2.14) 380 (2.80)

Rotor inertia oz-in2 (kg-cm2) 0.546 (9.998) 1.1 (20.1) 1.69 (30.9) 3.47 (63.4) 6.76 (124) 10.47 (191)

Phase InductanceSeries mH (small signal*) 17.37 18.5 17 10 10.5 9.2

Parallel mH (small signal*) 4.34 4.62 4.25 2.5 2.62 2.3

Bearings InformationThrust Load lb (kg) 25 (11.3) 25 (11.3) 25 (11.3) 50 (22.6) 50 (22.6) 50 (22.6)

Radial Load lb (kg) 15 (6.8) 15 (6.8) 15 (6.8) 25 (11.3) 25 (11.3) 25 (11.3)(Reverse load equal to 1 lb)End Play in (mm) 0.001 (0.025) 0.001 (0.025) 0.001 (0.025) 0.001 (0.025) 0.001 (0.025) 0.001 (0.025)

Radial Play (Per 0.5 lb load) in (cm) 0.0008 (0.020) 0.0008 (0.020) 0.0008 (0.020) 0.0008 (0.020) 0.0008 (0.020) 0.0008 (0.020)

Net WeightMotor + Cable + Connector lb (kg) 1.6 (0.7) 2.4 (1.1) 3.2 (1.5) 3.8 (1.7) 5.1 (2.3) 8.3 (3.8)

Motor Cable**Wire Size AWG (mm

2) 24 (0.25) 24 (0.25) 24 (0.25) 22 (0.34) 22 (0.34) 22 (0.34)

T Series Stepper Motor Specifications(Size 34 Frame & 42 Frame)

E Series Stepper MotorSpecifications

(Size 23 Frame & 34 Frame)

* To comply with EMC and low-noise (CISPR22/EN55022 Class A or FCC ClassA emissions) standards, the following items are required:• Gemini GT or GT6 Drive• CE(LVD) motor for LVD. Compumotor recommends a terminal board

(NPS) motor construction for easier EMC installation• C10(CH10) motor accessory (LVD/EMC cable kit)• Mains Filter as indicated in the User Guide

B

Catalog 8000-4/USA

GEMINIGT Dimensions



Stepper Motor DimensionsSize 23 Frame, O Series

Dimensions in inches (mm)

For servo motor information, please turn to that section of the catalog.

A +/- 0.04 [1]

1.86(47.2)

2.25(57.2)

13.5(343)Min.

1.5021.498

(38.15)(38.05)

0.200 (5.08) dia (4)on 2.625 (66.68) BC

0.20 (5.08)

1.06 (26.9)

Dimensions in inches (millimeters)

A

2.44(62.0)0.055 (1.40)

0.81(20.6)

0.25000.2495

(6.350)(6.337)

Shaft Dia

45°

Flexible boot may be bent as shown. Nominal height 1.0 (25.4).

1.0(25.4)

0.25(6.4)

Frame Size 23ModelOS2HAOS21AOS22A

A1.60 (40.6)2.06 (52.3)3.10 (78.7)

(OEM57-40)(OEM57-51)(OEM57-83)

Catalog 8000-4/USA

GEMINIGT Dimensions


Size 34 Frame, T Series


Size 42 Frame, T Series


4x ∅ .218 (5.54) thruequally spaced on a∅ 3.875 (98.43) B.C.

-A-

.003 (0.077) A

∅ A+.0000-.0005

+ 000-.017

C+.0000-.0020

.002 (0.051)

1/2 NPS TAPWITH .56 I.D.INSULATING BUSHING

3.38(85.85)

.06 (1.52)

∅ 2.875 – .002(73.025 – .051)

(2 x 45¡)

1.25(31.75)

.875 – .010 (22.225 – .254)

.33 (8.382)

B

L MAX.

L2

1.95(49.53) MAX.

Model Lmax L2 A B C TS31B—nnNPS 4.44 (112.78) 3.70 (93.98) 0.5000 (12.70) .555 (14.097) .1250 (3.175) TS32B—nnNPS 5.96 (151.38) 5.22 (132.59) 0.5000 (12.70) .555 (14.097) .1250 (3.175) TS33B—nnNPS 7.48 (189.99) 6.74 (171.20) 0.6250 (15.88) .705 (17.907) .1875 (4.763)

.003 (0.077) A

1.43 0.04+-

(36.32 1.02)+-

0.002 (0.051)

fl0.3750+-

0.00000.0005

(9.53+-

0.000)0.013)

1Indicated dimensionapplies from end ofextension to face ofrear end bell (coverand gasket removed)

1

Double ShaftConfiguration

2.5(63.5)

3.88(98.6)

EC EncoderConfiguration

1.63(41.4)

+.000-.017

∅ .7500+.0000-.0005

(19.050+0.000)-0.013)

.1875+.0000-.0020

(4.7625+.0000)-.0508)

.002 (0.051)-A-

.003 (0.077) A

.003 (0.077) A

WITH .56 I.D.INSULATING BUSHING

.06

(2 x 45¡)

(109.855)

∅ 2.186 – .002(55.524 – .051)

4x ∅ .328 (8.331) thruequally spaced on a∅ 4.950 (125.73) B.C.

2.19(55.63)

1.375 – .010(34.925) – .254

.830

(+.000)(-.432)

(21.08)

4.325

.48 (12.192)

(1.52)

L2

L MAX.

2.23(56.642) MAX.

1/2 NPS TAP

Model Lmax L2TS41B—nnNPS 5.20 (132.08) 4.46(113.28)TS42B—nnNPS 7.22 (183.39) 6.48(164.59)TS43B—nnNPS 9.23 (234.44) 8.49 (215.65)

1.57 0.04+-

(39.88 1.02)+-

0.002 (0.051)

fl0.5000+-

0.00000.0005

(12.7+-

0.000)0.013)

1Indicated dimensionapplies from end ofextension to face ofrear end bell (coverand gasket removed)

1

Double ShaftConfiguration

2.5(63.5)

1.63(41.4)

4.80(121.9)

EC EncoderConfiguration

Stepper Motor Dimensional Drawings


B

Catalog 8000-4/USA

GEMINIGT Dimensions


Gemini Offers Greater Flexibility and More Reliability Than Ever Before. Call 1-800-358-9070 Today.

Size 23 Frame, E Series (also known as ZETA Series)


Size 34 Frame, E Series (also known as ZETA Series)


Stepper Motor Dimensional Drawings

1.856(47.14)

2.27(57.66)

max

1.5021.498

(38.15)(38.05)

1200.2150.195

(5.461)(4.953)

dia (4)

on 2.625 (66.67) BC

(305) 8 wireshielded

0.19 (4.83)

0.830.73

(21.08)(18.54)

A

0.063(1.60)0.820.72

(20.83)(18.29)

0.25000.2495

(6.35)(6.34)

Shaft Dia (2) 1.118(28.40) dia

60

#6-32 UNC-2B Thdx 0.25 DP

(3) Equally Spacedon 1.865 BC

(6.50)

(47.37)

ModelES21B (ZETA 57-51)ES22B (ZETA 57-83)ES23B (ZETA 57-102)

A2.0 (50.23)3.1 (75.23)4.0 (101.6)

2.8772.873

(73.07)(72.97)

dia

3.25(82.55)

max

2.7302.750

(69.34)(69.85)

3.40(86.36)

Max Casting Size 120 (305)8 wireshielded

0.2280.218

(5.79)(5.54)

dia (4)

on 3.875 (98.42) BC

0.37500.3745

(9.52)(9.51)

Shaft Dia (2)0.19

(4.83)

A

0.063(1.60)

1.211.17

(30.70)(29.72)

1.231.15

(31.24)(29.21)

30

0.750x 0.050 Deep Bore Min

(19.05) dia(1.27)

#6-32 UNC-2B Thdx 0.25 DP(4) Equally Spacedon 2.952 BC

(6.50)

(74.98)

ModelES31B (ZETA 83-62)ES32B (ZETA 83-93)ES33B (ZETA 83-135)

A2.5 (62.0)3.7 (93.98)5.2 (129.0)


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